#ifndef RSIM_ABADATASTRUCT3D_H
#define RSIM_ABADATASTRUCT3D_H

/*-------------------------------------------------------------------------- *
* File: ABAData3D.h                                                          *
* Authors: Kishor Bhalerao                                                   *
* Email : kishor8dm@gmail.com                                                *
* Contributors:                                                              *
* Email:                                                                     *
* copyright (c) 2010 Authors.                                                *
*                                                                            *
* This program is free software: you can redistribute it and/or modify it    *
* under the terms of the GNU General Public License as published by the Free *
* Software Foundation, either version 3 of the License, or any later version.*
*                                                                            *
* This program is distributed in the hope that it will be useful, but        *
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
* or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License   *
* for more details. (http://www.gnu.org/licenses/)                           *
* -------------------------------------------------------------------------- */

#include "LinAlgDecl.h"

namespace RSIM{
        
class ABAData3D{
        public:
                ABAData3D(){}

                Mat6x6 Ik3_;
                Vect6 Fk3_;             
                Vect6 cFk_;                
                Mat6x6 Triang_;                
                Mat6x6 ik3_child_;
                Vect6 fk3_child_;
                
        private:
                                
                ABAData3D(const ABAData3D&);
                                
}; // class ABAData

} // namespace RSIM

#endif